Pipe cutting tool

ABSTRACT

An example pipe cutting tool includes a plurality of actuators and a plurality of cutters. Each of the plurality of cutters is connected to at least one separate actuator of the plurality of actuators. The at least one separate actuator is configured to move the cutter between a pre-deployed and deployed position. The deployed position is beyond the pre-deployed position. The plurality of cutters may include a first and second cutter, with the at least one separate actuator connected to the second cutter moving based, at least in part, on one or more cutting conditions. An example method of cutting a pipe includes extending a first cutter to contact the pipe, cutting at least a portion of the pipe using the first cutter, detecting a cutting condition, extending a second cutter based, at least in part, on the cutting condition, and resuming the cutting using the second cutter.

TECHNICAL FIELD

This specification describes examples of tools for cutting pipes andmethods of using those tools.

BACKGROUND

In the oil and gas industry, pipes, such as steel pipes, are used inmany downhole applications. For example, pipes may be used as drillpipes, as bottom hole assemblies, and in well casing or tubing. In somecases, a pipe may become stuck while drilling, tripping, or runningcasing or tubing. The stuck pipe may be cut if attempts to extract thestuck pipe are not successful. A pipe cutting tool may be inserted intothe stuck pipe and used to cut the stuck pipe at a location downhole.

SUMMARY

An example pipe cutting tool is configured to cut pipes in a wellbore.The pipe cutting tool includes a plurality of actuators and a pluralityof cutters. Each of the cutters is connected to at least one separateactuator. For each cutter, the separate actuator is configured to movethe cutter between a pre-deployed position and a deployed position. Thedeployed position is beyond the pre-deployed position. The pipe cuttingtool may include one or more of the following features, either alone orin combination.

The plurality of cutters may include a first cutter and a second cutter.The second cutter may be configured to move from the pre-deployedposition to the deployed position automatically based, at least in part,on one or more cutting conditions. The one or more cutting conditionsmay include a first cutter pressure that exceeds an initial or presetfirst cutter pressure by a predetermined amount. The pipe cutting toolmay include a controller configured to output actuation signalsautomatically based, at least in part, on the one or more cuttingconditions. The second cutter may be configured to move independentlyfrom each other cutter.

The pipe cutting tool may further include one or more sensors associatedwith each of the plurality of cutters that output sensor signals. Theone or more sensors are for outputting sensor signals. The pipe cuttingtool may include a controller configured to determine the one or morecutting conditions based on the sensor signals.

The pipe cutting tool may further include a cutter imaging monitorconfigured to monitor at least one of the plurality of cutters duringoperation. The cutter imaging monitor may include one or more of anx-ray imaging monitor, an optical camera, or an acoustic camera. Thecutter imaging monitor may be configured to send a monitoring signal toa remote computing system. The monitoring signal may represent real-timeoperation of one or more of the cutters. In this regard, real-time maynot mean that monitoring and operation are simultaneous but rather mayinclude actions that occur on a continuous basis or track each other intime taking into account delays associated with processing, datatransmission, and hardware.

The pipe cutting tool may further include a controller configured to setthe deployed position based on a radius of a pipe to be cut. Theplurality of cutters may be configured such that only one of theplurality of cutters cuts at a time. The plurality of cutters mayinclude a first cutter, a second cutter, and a third cutter. The thirdcutter may be redundant to the first cutter and to the second cutter.

The pipe cutting tool may further include a housing to hold the one ormore actuators and the plurality of cutters. The housing may have anouter diameter of less than 3 inches (in) (76.2 millimeters—mm). Thecutters may be disposed entirely within the housing in theirpre-deployed positions and extend at least partially outside of thehousing in their deployed positions. A radial extent of a cutter from acentral axis of the pipe cutting tool may be less than 3 in (76.2 mm)when the cutter is in the pre-deployed position. A radial extent of acutter from a central axis of the pipe cutting tool may be at least 4.5in (114.3 mm) when the cutter is in the deployed position. The pluralityof cutters may have a radial extent in the deployed position that is asame distance from a central axis of the pipe cutting tool. Each cuttermay lie at least partially in a common horizontal plane when in thedeployed position. In the deployed position, one or more of the cuttersmay be angled relative to the common horizontal plane.

Each one of the plurality of cutters may be connected to a single one ofthe plurality of actuators. The pipe cutting tool may include acontroller to send actuation signals to the plurality of actuators tocause the plurality of actuators to move independently. The plurality ofactuators may be configured to provide at least 750 pounds per squareinch (psi) (5.2 megapascal—MPa) of outward pressure to each cuttermaking a cut during cutting. Each of the plurality of actuators mayinclude a piston. The pipe cutting tool may include a controllerconfigured to output a control signal. The plurality of actuators eachmay be configured to supply a controlled cutting pressure based one thecontrol signal.

The cutters may include a rotatable blade, a blade hub, and an arm. Theblade hub may be configured to cause the rotatable blade to rotate abouta central axis of the blade hub. The blade hub may be connected to thearm at a first end of the arm. The arm may be connected to the one ofthe plurality of actuators at a second end of the arm opposite the firstend.

An example pipe cutting tool includes a plurality of cutters and anactuator connected physically to the plurality of cutters. The actuatormay be configured to extend and to retract to move each of the pluralityof cutters between a deployed position and a pre-deployed position,respectively. The pipe cutting tool further includes one or more sensorsfor monitoring one or more conditions associated with the plurality ofcutters. The pipe cutting tool further includes a control system foroutputting one or more signals to control extending or retracting theactuator based on the one or more conditions.

An example method for cutting a pipe includes extending a first cutterto contact the pipe. The method includes cutting at least a portion ofthe pipe using the first cutter. The method includes detecting a cuttingcondition during cutting performed by the first cutter. The methodincludes extending a second cutter that is redundant to the first cutterbased, at least in part, on the cutting condition. The method includesresuming the cutting using the second cutter. The method may include oneor more of the following features, either alone or in combination.

Extending the second cutter may occur automatically upon detecting thecutting condition. Detecting may be performed automatically by acontroller. The method may further include automatically deactivatingthe first cutter based, at least in part, on the cutting condition.Deactivating the first cutter may include retracting the first cutter.Deactivating the first cutter may include stopping the first cutter. Themethod may further include extending a third cutter that is redundant tothe first cutter and to the second cutter based, at least in part, on asecond cutting condition. The method may further include automaticallydeactivating the second cutter, based at least in part, on determining asecond cutting condition. The cutting condition, or the second cuttingcondition, or both may include a pressure that exceeds a specifiedcutter pressure by a predetermined amount.

The first cutter may be extended by a first actuator in response to anactuation signal output by a controller. The second cutter may beextended by a second actuator in response to an actuation signal outputby the controller. The first actuator may be separate from the secondactuator. The second actuator may provide at least 750 psi (5.17 MPa) ofoutward pressure to the second cutter during cutting by the secondcutter. The method may further include setting, by a controller, eithera deployed position of the first cutter or a deployed position of thesecond cutter or both. A radial extent of the first cutter from thecentral axis may be at least 4.5 inches (114.3 mm) when the first cutteris in the deployed position. If the first cutter and the second cutterare both in a deployed position, the first cutter and the second cuttermay be at least partially in a common plane. At least one of the firstcutter and the second cutter may be angled relative to the common planewhen in a deployed position.

The first cutter and the second cutter may each include a rotatableblade and a blade hub. The blade hub may be configured to cause therotatable blade to rotate about a central axis of the blade hub. Theblade hub may be connected to an arm that is connected to an actuator.An actuator connected to the first cutter may be separate from anactuator connected to the second cutter.

The method may further include monitoring the first cutter duringcutting using an optical camera, an x-ray imaging monitor, or anacoustic camera.

Advantages of the example pipe cutting tools may include one or more ofthe following. Use of redundant cutters may increase the pipe cuttingtool's reliability since failure of a single cutter will not disable thetool completely. The pipe cutting tool may improve cutting efficiencyand reliability through monitoring one or more cutting conditions todetermine when to deploy one or more of the redundant cutters. Automaticdeployment of the redundant cutters may reduce the need for continuousmonitoring of the well by a drilling engineer.

Any two or more of the features described in this specification,including in this summary section, may be combined to formimplementations not specifically described in this specification.

At least part of the tools and processes described in this specificationmay be controlled by executing, on one or more processing devices,instructions that are stored on one or more non-transitorymachine-readable storage media. Examples of non-transitorymachine-readable storage media include read-only memory (ROM), anoptical disk drive, memory disk drive, and random access memory (RAM).At least part of the tools and processes described in this specificationmay be controlled using a data processing system comprised of one ormore processing devices and memory storing instructions that areexecutable by the one or more processing devices to perform variouscontrol operations.

The details of one or more implementations are set forth in theaccompanying drawings and the description subsequently. Other featuresand advantages will be apparent from the description and drawings, andfrom the claims.

DESCRIPTION OF THE DRAWINGS

FIG. 1A is a plan view of one cutter among a plurality of a cutters inan example pipe cutting tool, where the one cutter is in a pre-deployedposition.

FIG. 1B is a plan view of the pipe cutting tool of FIG. 1A, where theone cutter is in a deployed position.

FIG. 2 is a side view of an example pipe cutting tool having separateactuators.

FIG. 3A is a plan view of an example pipe cutting tool having cutters inpre-deployed positions.

FIG. 3B is a side view of the pipe cutting tool of FIG. 3A.

FIG. 3C is a plan view of the pipe cutting tool shown in FIGS. 3A and 3Bwith the cutters in deployed positions.

FIG. 3D is a side view of the pipe cutting tool of FIG. 3C.

FIG. 4 is a flow diagram of an example method of using a pipe cuttingtool.

Like reference numerals in the figures indicate like elements.

DETAILED DESCRIPTION

Described in this specification are implementations of pipe cuttingtools that are configured to cut pipes, such as pipes located inwellbores. An example pipe cutting tool includes a plurality of cuttersand, optionally, a housing. A cutter includes a blade or other structurethat is controllable to cut through the pipe entirely or part-way. Atleast one of the cutters is redundant. A cutter may be redundant in thesense that it may perform the same cutting function as one or more othercutters. For example, the pipe cutting tool may include three cutters.One of the cutters is a primary cutter and the other two cutters are theredundant cutters.

In some implementations, the cutters are connected to one or moreactuators. In some implementations, each of the actuators is disposedwithin the housing. Each cutter may be connected to a single actuatorthat is configured to move the cutter between a pre-deployed positionand a deployed position. In this example, each cutter is independentlymovable. In some implementations, each cutter in the pipe cutting toolis connected to its own separate actuator. In some implementations, twoor more of the cutters may be connected to a single, common actuatorthat is configured to move each of the cutters between a pre-deployedposition and a deployed position. For example, every cutter in the pipecutting tool may be connected to a single, common actuator. In thisexample, each cutter is not independently movable. In someimplementations, one or more cutters in the pipe cutting tool are eachconnected to their own separate actuator and other cutters are connectedto a single, common actuator.

In general, cutters in the pipe cutting tool can include any type ofdevice that is able to cut through all or part of a pipe. Example pipesinclude, but are not limited to, casing pipes, tubing pipes, drillingpipes, and bottom-hole assembly pipes. The pipes may be made of metal,composite, plastic, or a combination of these materials. Cutters in thepipe cutting tool may include mechanical cutters, such as rotatableblades or knives. A rotatable blade is shown in the figures. Therotatable blade may include a tungsten carbide blade having teeth aroundits circumference. In some implementations, the rotatable blade isconnected to a blade hub so that the rotatable blade is able to rotateabout a central axis of the blade hub. The pipe cutting tool may beconfigured—for example programmed—to start rotating a rotatable blade ofa cutter while the cutter is being moved from its pre-deployed todeployed position. Alternatively, the pipe cutting tool may beconfigured—for example programmed—to start rotating the blade when thecutter reaches its deployed position. In some implementations, cuttersmay include chemical cutters, such as plasma torches.

An example pipe cutting tool 100 is shown in FIGS. 1A and 1B. In thisexample, only a first (primary) cutter 111 is shown, although otherredundant cutters are included in the pipe cutting tool 100 but are notshown. Pipe cutting tool 100 includes a cutter 111, an actuator 106, anda housing 104. In FIG. 1A, cutter 111 is in a pre-deployed position. Inthis example, in the pre-deployed position, cutter 111 is entirelywithin housing 104. FIG. 1B shows cutter 111 in a deployed position. Inthe deployed position, cutter 111 extends at least partially outside ofhousing 104, thus being in a position where the cutter is able to cut apipe. In this example, actuator 106 is disposed entirely within housing104 in both the pre-deployed and deployed positions.

In this example, the pre-deployed position of the cutter includes aposition in which the cutter is at or near its minimal radial extentfrom a central axis of the pipe cutting tool (for example, before beingdeployed to cut). The deployed position of the cutter includes aposition in which (i) at least a portion of the cutter is outside of thehousing of the pipe cutting tool and (ii) the radial extent of thecutter from the central axis is greater than in the pre-deployedposition. The central axis of the pipe cutting tool includes an axisthat runs through the center of the pipe cutting tool along its longestdimension. For example, the central axis is the longitudinal axis of thepipe cutting tool. In some examples, each cutter is extendible to reacha circle centered at the point or axis that intersects at least onepoint that is to be cut. An actuator controls the cutter to move betweenthe pre-deployed position and the deployed position.

In some implementations, the actuator includes a component configuredfor mechanical movement between two positions. An example actuatorincludes a piston. For example, the actuator may be a hydraulic pistonor a pneumatic piston. The actuator may include a spring loading andunloading mechanism to operate. The actuator may be disposed within thehousing of the pipe cutting tool. For example, the actuator may bemounted on the housing. In some examples, the actuator may be configuredto position the cutter only between two discrete states: a fullycontracted state and a fully extended state. In some examples, theactuator may be configured to position the cutter at any point in acontinuum between the two discrete states. In some implementations, theactuator is electronically controlled by a controller such that sendinga signal from the controller causes actuation of the actuator. In someimplementations, the actuator is configured to move the cutter along anaxis aligned with the direction of motion of a cutter between itspre-deployed and deployed positions. For example, the actuator mayactuate horizontally to move the cutter horizontally (in the plane ofhousing 104) between the pre-deployed position and deployed position.

The actuator may be configured—for example, constructed, arranged, orboth constructed and arranged—to apply pressure to the cutter duringcutting. Example pressures include at least 500 psi (3.45 MPa), at least750 psi (5.17 MPa), or at least 900 psi (6.21 MPa). The pressure may beapplied to each cutter that is making a cut during cutting. The pressureapplied by an actuator may be controllable by the controller and maydepend on an actuation signal provided by the controller. Similarly, theactuator may be configured to move the cutter into a deployed positionin which the cutter extends from a central axis of the pipe cutting toolat least 4.5 inches (in) (114.3 mm), at least 5 in (127 mm), at least5.5 in (139.7 mm), at least 6 in (152.4 mm), or at least 8 in (203.2mm).

Any appropriate controller configured to sends signals to the actuatorsand to receive data inputs may be used. For example, a controller mayinclude a programmable logic controller or a microprocessor. The pipecutting tool may include a control system comprised of a singlecontroller or multiple controllers. For example, the single controllermay control all cutters, all actuators, or both all cutters and allactuators included on the pipe cutting tool. In the case of multiplecontrollers, each cutter, each actuator, or each set of independentcutter and actuator(s) may include its own separate controller. Thatcontroller may control its corresponding cutter.

The pipe cutting tool may also include one or more sensors, such asenvironmental sensors including, for example, one or more of each of thefollowing: temperature sensors, pressure sensors, erosion sensors, andacoustic sensors. One or more of these sensors may be located on, orproximate to, each cutter. Output readings from the sensors may betransmitted to each controller or to each corresponding controller.Transmission may be via wired or wireless media. The controllers maysend the readings to a computing system at the surface or thecontrollers may use the readings to affect or to control operation ofthe cutters.

Each controller may be on-board the pipe cutting tool in the sense thatit is located on the tool itself or downhole with the tool, rather thanat the surface. The controller may communicate with the computing systemthat is located uphole to control operation and movement of the pipecutting tool. For example, the controller may cooperate with thecomputing system to control operation of the pipe cutting tool based onsensor readings as described in this specification. For example, thecontroller may be configured—for example programmed—prior to operationto implement control instructions in a sequence during operation absentuser intervention. Alternatively, the controller may receiveinstructions from uphole computing system to control the tool.

Cutter 111 includes rotatable blade 102, blade hub 108 about whichrotatable blade 102 rotates, and arm 110. In an example, arm 110includes a fixed structure that connects a blade hub to an actuator. Inthis case, arm 110 connects blade hub 108 and actuator 106. The arm mayinclude a coupler or fastener between the blade hub and the actuator.The other cutters in pipe cutting tool 100 (not shown) may be disposed,for example, in a stacked pre-deployed configuration with cutter 111. Inthis example, each cutter has its own actuator. For example, there maybe three cutters. Each of the other two cutters may have the samestructure and function as cutter 111. When in their deployed positions,the cutters may be at least partially in a common plane and fanned-out.

Cutter 111 is configured—for example, connected, constructed, orarranged—to move radially relative to axis 112 of the pipe cutting tool.For example, in the pre-deployed position (FIG. 1A), the cutter isretracted within housing 104. For example, in the deployed position(FIG. 1B), the cutter is extended beyond housing 104. Thus, as shown,the radial extent 114 of the cutter 111 in the deployed position isgreater than the radial extent 114 in the pre-deployed position. Thedirections of movement of actuator 106 are shown by double arrowed line115 in FIG. 1B. As previously explained, an actuator 106 is configuredto move the cutter between the pre-deployed position and deployedposition. In some implementations, actuator 106 is controlled by anactuation signal sent by the controller.

The controller may automatically send the actuation signal based, atleast in part, on one or more cutting conditions that are determined tobe present within the pipe. In some implementations, one or more cuttingconditions that cause the controller to output the actuation signalinclude a cutter pressure exceeding an initial or preset cutter pressureby a predetermined amount. The cutter pressure includes the pressure onthe cutter as a result of forcing the cutter against a pipe duringcutting. The cutter pressure may increase to the point where such acondition is met, for example, because the cutter is becoming dull fromuse or due to lack of efficiency in the cut. In some implementations,each cutter includes a sensor and the controller is configured todetermine one or more cutting conditions for each cutter based on inputfrom the sensor. Examples of sensors were provided previously andinclude pressure sensors, temperature sensors, erosion sensors, acousticsensors, and accelerometers. In some implementations, a pressure sensorof a cutter in a pipe cutting tool is configured and arranged to measurethe pressure being applied to the cutter during cutting.

Pipe cutting tools may improve cutting performance by automaticallychanging out cutters based on local conditions during cutting. Forexample, the controller may receive a reading from a pressure sensorindicating that the pressure on a cutter during use exceeds a predefinedmaximum pressure. In response, the controller may stop operation of thecutter and retract the cutter. A different, redundant cutter may then beextended to resume the cutting. This may be done automatically, forexample, without intervention or instruction from a user.

In some implementations, the pipe cutting tool includes a cutter imagingmonitor configured—for example, constructed and arranged—to monitor oneor more cutters in substantially real-time while cutting. For example,real-time monitoring may allow a user to view the output of the cutterimaging monitor as it occurs without intentional delay, understandingthat there may be some time lag associated with transmitting andprocessing data from the cutter imaging monitor. The cutter imagingmonitor may be, but is not necessarily, arranged relative to the cutterto provide a full view of a region being cut. For example, a view of thecutter imaging monitor may include a full view of the portion of thecutter, such as a rotatable blade, that actively cuts a pipe and thefull interface between the cutter and the pipe.

The cutter imaging monitor may be configured to capture video,relatively high framerate still images, or both, such as images having aframerate of at least 5 frames per second. The cutter imaging monitormay be or include one or more of an x-ray imaging monitor, an opticalcamera, or an acoustic camera. In some implementations, any type ofoptical camera that senses visible wavelengths may be used. A light maybe used in combination with an optical camera to provide illumination ofthe field of view that is monitored by the camera. An example opticalcamera includes a charge-coupled device (CCD) camera. The optical cameramay be waterproof or housed inside a housing that is transparent orincludes a transparent imaging window. An example x-ray imaging monitorincludes an x-ray source and a detector configured to detect x-rays. Insituations where a substance, such as an opaque fluid, between a cutterimaging monitor and a cutter precludes or limits observation usingvisible light, the x-ray imaging monitor may be used instead of anoptical camera. Each cutter in the pipe cutting tool may be monitored bya single cutter imaging monitor or may be separately monitored by itsown corresponding cutter imaging monitor. In some implementations, oneor more cutting conditions are determined based, at least in part, oninput from a cutter imaging monitor, for example, using image or videorecognition techniques.

In some implementations, the pipe cutting tool is configured to send amonitoring signal from a cutter imaging monitor to the wellbore surfacefor analysis by a computing device, a user, or both. The monitoringsignal may be transmitted wirelessly, through a cable, or through awire, for example. A user may use a signal from a cutter imaging monitordisplayed on a computing device to observe progress of a cut or one ormore cutting conditions including a condition of a cutter. In someimplementations, the pipe cutting tool includes a manual override that auser can use to either change cutting parameters (for example, pressureapplied by an actuator), to move the cutter between a pre-deployed anddeployed position, or to stop cutting based, at least in part, onobserving a display of the cutter imaging monitor signal. In someimplementations, one or more cutting conditions based, at least in part,on one or more sensors outputs are provided to the computing system viaa wired or wireless connection. In some implementations that do notinclude a cutter imaging monitor, a manual override may nonetheless beincluded.

In some implementations, as previously explained, a cutting conditionused by a controller to determine when to send an actuation signalincludes a condition where a first cutter pressure exceeds an initial orpreset cutter pressure by a predetermined amount. For example, thecutting condition may be a first cutter pressure that exceeds an initialcutter pressure at the beginning of cutting. Initial pressure of acutter may be preset, may be determined at a particular time aftercutting begins (for example, within a certain number of seconds of whencutting begins, such as 5 seconds), or may be measured by a sensor inthe cutter. In some implementations, a predetermined amount is arelative amount, such as at least 10% of a target value, at least 20% ofthe target value, at least 25% of the target value, at least 30% of thetarget value, at least 40% of the target value, or at least 50% of thetarget value. In some implementations, the predetermined amount is anabsolute amount, such as at least 50 psi (0.345 MPa), at least 75 psi(0.517 MPa), at least 100 psi (0.69 MPa), at least 150 psi (1.03 MPa),or at least 200 psi (1.38 MPa). In some implementations, a first cutterpressure is determined continuously by a sensor, such as pressuresensor. Other cutting conditions may be used in addition to, or in placeof, a pressure-based condition to trigger output of actuation signals.Examples of other cutting conditions include a wear condition of acutter, a rotational velocity of a cutter, or a cutting-efficiencycondition. These conditions may be determined, for example, using inputfrom one or more sensors, as explained previously.

The extent to which a cutter may extend from central axis 112 in adeployed position may be settable by the controller. For example, thecontroller may be configured—for example, programmed or constructed—toactuate an actuator connected to the cutter so that the cutter extendsto a predefined radial extent. The predefined radial extent can bechanged (for example, by a user). In this way, in some implementations,the pipe cutting tool can be adjusted to cut pipes of differentdiameters or to control the cutting depth more precisely. For example,in some implementations, a radial extent from a central axis of a cutterin a deployed position can be set (for example, by the controller) to beanywhere between 4 in (101.6 mm) and 12 in (304.8 mm). For example, insome implementations, a radial extent of a cutter in a deployed positionis settable anywhere in a range of between 4 in (101.6 mm) and 8 in(203.2 mm), between 5 in (127 mm) and 9 in (228.6 mm), between 6 in(152.4 mm) and 10 in (254 mm), or between 5 in (127 mm) and 8 in (203.2mm). Each of a plurality cutters may extend the same amount or differentamounts from the radial axis of the pipe cutting tool. For example, themaximum extension of one cutter in its deployed position may be greaterthan or less than the maximum extension of another, different cutter inits deployed position. Each of a plurality of cutters may extend thesame amount or different amounts from the radial axis of the pipecutting tool in its pre-deployed position.

In some implementations, pre-deployed positions of cutters, deployedpositions of cutters, or both, are settable. In some implementations,the pre-deployed positions, deployed positions, or both pre-deployed anddeployed positions of cutters may be set independently of the maximumrange of actuation of the actuators to which the cutters are connected.For example, a pre-deployed position of a cutter connected to anactuator may be a position that does not correspond to a fullycontracted state of the actuator. For example, a deployed position of acutter connected to an actuator may be a position that does notcorrespond to a maximally extended state of the actuator. In someimplementations, these positions may be configured manually prior toinsertion of the pipe cutting tool into the pipe. In someimplementations, the pre-deployed positions, deployed positions, orboth, are dictated by the particular arrangement of elements in a pipecutting tool.

In some implementations, a cutter or redundant cutter moves between itspre-deployed position and its deployed position manually. Manualmovement includes a user sending an actuation signal to control theactuator to which the cutter is connected, thereby causing movement ofthe cutter to its deployed position. Movement from the deployed positionto the pre-deployed position may occur manually in a similar manner. Insome implementations, a first cutter is configured to move manually andeach cutter that is redundant to the first cutter is configured to moveautomatically, for example as described in the next paragraph. Eachredundant cutter may be controlled to move automatically andsynchronously or automatically and independently.

In some implementations, a first cutter or redundant cutter movesbetween its pre-deployed position and its deployed positionautomatically. Automatic movement includes signals sent by thecontroller that are not prompted by an operator. In someimplementations, to move the redundant cutter automatically between apre-deployed position and a deployed position, an actuation signal issent by a controller to the actuator that is connected to the redundantcutter to cause actuation. The controller may automatically send theactuation signal based, at least in part, on identification of one ormore cutting conditions during cutting. In some implementations, thefirst cutter is deactivated automatically by a controller when one ormore cutting conditions are determined to exist (for example, asdetermined by the controller). Deactivating the first cutter may includecontrolling, by the controller, the actuator connected to the firstcutter such that the first cutter moves from its deployed position toits pre-deployed position. Deactivating a cutter may include stoppingthe cutter. For example, if a cutter comprises a rotatable blade,deactivating the cutter may include stopping rotation of the blade. Asanother example, if a cutter is a chemical torch, deactivating thecutter may include stopping flow of chemical necessary for cutting.

As previously explained, a redundant cutter includes a cutter that cutsin substantially the same place as another cutter. For example, if theredundant cutter is used for part or all of a cutting process in placeof the first cutter, a complete cut that causes separation of andbetween pipe segments will still be made at a desired location. In someimplementations, a redundant cutter recuts a portion of a pipe bycutting an arc of the pipe that has already been cut by the first cutterin a proximal location either above or below the initial arc that wascut. For example, a proximal location may be within 5 in (127 mm),within 4 in (101.6 mm), within 3 in (76.2 mm), or within 2 in (50.8 mm)of an initial cut. A cutter that is redundant to a first cutter may belocated in close proximity to the first cutter in a pipe cutting tool.For example, a cutter that is redundant to the first cutter may bedisposed in a horizontal plane perpendicular to a central axis of thepipe cutting tool within 36 in (914.4 mm), within 18 in (457.2 mm), orwithin 6 in (152.4 mm) of a horizontal plane in which the first cutteris disposed. In some implementations, a redundant cutter is disposed atleast partially in a common plane with the first cutter if the redundantcutter and the first cutter are in their respective deployed positions.In some implementations, a first cutter and a redundant cutter cannot bein their deployed positions simultaneously but each is at leastpartially in the common plane when in its deployed position (atdifferent times).

Redundant cutters may be configured—for example, constructed, connected,controlled, or arranged—to move together, for example synchronously, orindependently. For example, every redundant cutter of a pipe cuttingtool may be controllable to move automatically within a period of timesuch that when one or more cutting conditions are determined to bepresent, all redundant cutters move to their deployed positions withinthe period of time. Redundant cutters may be independent such that eachis moveable separately from the others. For example, each of a pluralityof independent redundant cutters can be moved to their respectivedeployed positions (and optionally moved back to their respectivepre-deployed positions) in a sequential order as one or more cuttingconditions are determined to be met for the redundant cutter currentlybeing used. In this way, a plurality of independent redundant cuttersact as independent back-ups, further prolonging the lifetime of a pipecutting tool between servicings. In some implementations, a primarycutter continues to cut after a redundant cutter is moved to itsdeployed position, such that the redundant cutter acts a supplementarycutter assisting the primary cutter. A pipe cutting tool may have a mixof independent and synchronous redundant cutters.

In a pipe cutting tool having independent redundant cutters, a currentcutter may be deactivated when one or more cutting conditions aredetermined to be present for the current cutter. For example, the one ormore cutting conditions that cause deactivation of the current cuttermay be the same as the one or more cutting conditions that cause aredundant cutter to be moved to its deployed position. Movement of theredundant cutter to its deployed position and deactivation of thecurrent cutter may occur automatically once the one or more cuttingconditions are determined to be present. In some implementations,cutting conditions that cause a cutter to extend to its deployedposition may be different than cutting conditions that cause the cutterto retract to its pre-deployed position. The cutting conditions may beany one or combination of those described previously, for example.

In some implementations, a plurality of cutters are constructed andarranged in a pipe cutting tool such that each of the cutters is atleast partially in a common plane when in its deployed position. Forexample, all cutters in the pipe cutting tool may be simultaneously in adeployed position during cutting and disposed at least partially in acommon plane. In some implementations, the common plane is horizontalrelative to a central axis of the pipe cutting tool. In someimplementations, it may not be possible to deploy each of such cutterssimultaneously, for example, if the cutters are each configured tooccupy essentially the same place when deployed.

In some implementations, a plurality of cutters may be disposed at leastpartially in a common plane both in both their deployed and pre-deployedpositions. For example, a plurality of cutters may be arranged in aside-by-side configuration both in their pre-deployed and deployedpositions. In some implementations, the cutters are arranged in astacked configuration, for example within a housing, when in theirpre-deployed position and moving each of the cutters to its deployedposition includes varying degrees of vertical movement, for exampleangled movement due to angled actuators. As such, one or more (or all)of a plurality of cutters may be angled relative to a plane intersectingthe housing at a ninety degree angle, either in a pre-deployed positionor in both a pre-deployed and deployed position. The primary cutter maybe arranged to be flat and to lie in a common plane in its deployedposition.

FIG. 2 shows an example pipe cutting tool 200. Pipe cutting tool 200includes a plurality of separate actuators 206 a-c and a correspondingplurality of cutters 211 a-c. Actuators 206 a-c are configured to movecutters 211 a-c between pre-deployed and deployed positions. Thedirections of actuation of actuators 206 a-c are shown by double arrowedlines 215 a-c. As shown in FIG. 2, separate actuators may share commondriving circuitry, mechanical driving components, or both while stillbeing independently configured and operable. In this example, actuators206 a-c share no common electronic or mechanical subparts used foractuation. Each of the cutters 211 a-c includes a rotatable blade 202a-c, a blade hub 208 a-c, and an arm 210 a-c that connects each cutterto its corresponding actuator. Cutters 211 a,c are in pre-deployedpositions (contained within housing 204) and cutter 211 b is in adeployed position (extending beyond housing 204). Cutters 211 a-c areconfigured to be independently actuated by actuators 206 a-c. Controller213 is electrically connected and provides actuation signals toactuators 206 a-c to move cutters 211 a-c, respectively.

Cutters 211 a,c are angled relative to cutter 211 b in both pre-deployedpositions (as shown) and deployed positions (not shown). Cutters 211 a,cand actuators 206 a,c are angled such that if cutter 211 a, cutter 211b, or cutter 211 c is in its deployed position, the cutter will bedisposed at least partially in a common horizontal plane. However, onlyone of cutters 211 a-c can be in a deployed position at a time. FIG. 2shows cutter 211 b in its deployed position. If cutter 211 b were movedto its pre-deployed, either of cutter 211 a or cutter 211 c could beindependently extended to its deployed position. Therefore, each ofcutters 211 a-c is able to cut the pipe at the same location (althoughnot at the same time), for example as defined by the pipe'scircumference.

As shown in FIG. 2, only two cutters (cutters 211 a,c) are angled withcutter 211 a angled down and cutter 211 c angled up. In someimplementations, each cutter is angled either up or down. For example,three cutters may be disposed in a stacked configuration (for example asshown in FIG. 2) with each cutter disposed at a different downward orupward angle such that, upon actuation moving the cutter from itspre-deployed position to its deployed position, each cutter moves to adeployed position at a common cut level (for example, a commonhorizontal plane).

Cutter 211 b is in a deployed position such that if pipe cutting tool200 is disposed at least partially in a pipe of a certain radius(corresponding to the shown radial extent of cutter 211 b), cutter 211 bcould cut the pipe in its shown state. Pipe cutting tool 200 isconfigured to automatically deactivate and move cutter 211 b from itsdeployed position to its pre-deployed position when one or more cuttingconditions are determined to be present (as previously described). Whencutter 211 b is deactivated and moved to its pre-deployed position,cutter 211 a is configured to move, for example automatically, from itspre-deployed position (as shown in FIG. 2) to its deployed positionextending beyond housing 204 (not shown) to resume the cutting of thepipe. Cutter 211 a is configured to automatically deactivate and movefrom its deployed position to its pre-deployed position when one or morecutting conditions are determined to be present (for example, the sameone or more cutting conditions as for cutter 211 b). Cutter 211 c isthen automatically moved from its pre-deployed to deployed position toresume cutting in place of cutter 211 a. Therefore, in this example,pipe cutting tool 200 is configured such that only one cutter (ofcutters 211 a-c) cuts at a time. The order of cutters as described inreference to FIG. 2 is arbitrary, and in other implementations otherorders are used.

The housing of the pipe cutting tool can be made of any appropriatematerial and sized for the conditions in which the pipe cutting tool isto be operated. For example, the housing of the pipe cutting tool may bemetal, plastic, or composite. The housing may have one or more openings,such as slots, through which a cutter can be moved when moving to adeployed position. For example, a cutter, such as a rotatable blade, maybe disposed entirely within the housing when in a pre-deployed positionand disposed at least partially outside of the housing when in adeployed position. In some implementations, the housing may have anouter diameter that is less than 4 in (101.6 mm), less than 3 in (76.2mm), or less than 2 in (50.8 mm). Similarly, a cutter may have a radialextent from a central axis of a pipe cutting tool that is less than 4 in(101.6 mm), less than 3 in (76.2 mm), or less than 2 in (50.8 mm) in apre-deployed position.

FIGS. 3A-3D show views of an example pipe cutting tool during itsoperation. FIGS. 3A and 3B show the example tool when the cutters are inpre-deployed positions. FIG. 3A is a plan view and FIG. 3B is a crosssection. FIGS. 3C and 3D show the example tool when all cutters are indeployed positions. FIG. 3C is a plan view and FIG. 3D is a crosssection.

Referring now to FIGS. 3A and 3B, an example pipe cutting tool 300includes a plurality of cutters. Pipe cutting tool 300 is disposedwithin a pipe 320 in a wellbore. For simplicity, only one cutter 311 ofthe plurality of cutters is labeled; the others are arranged andconstructed similarly. In its pre-deployed position, cutter 311 isdisposed entirely within housing 304. For example, in its pre-deployedposition, cutter 311 extends a distance from central axis 312 that isless than the radius of housing 304. The cutters are connected to acommon actuator 306 through a central hub 316 that is moveable alongwith movement of the actuator. A cutter imaging monitor 318 is disposedon an interior surface of housing 304 to allow for monitoring of theplurality of cutters, for example cutter 311, by a user in substantiallyreal-time during cutting. Cutter 311 includes a rotatable blade 302, ablade hub 308, and an arm 310.

Referring now to FIGS. 3C and 3D, example pipe cutting tool 300 is shownwith each cutter in a deployed position. The cutters were in a stackedconfiguration in their pre-deployed positions. In moving to deployedpositions due to actuation by actuator 306, the cutters fan out andshift, at least partially, into a common horizontal plane. For example,a spring loaded mechanism may be employed to cause the fanning to occurwhen central hub 316 moves due to actuation by actuator 306 (alongdirection 315). As can be seen by comparison between FIGS. 3C and 3D andFIGS. 3A and 3B, the cutters have a radial extent from central axis 312that is greater in a deployed position than in a pre-deployed position.In this example implementation, only the left most cutter, as view inFIG. 3C, is in contact with pipe 320 to cut. The other cutters may befurther positioned into contact with pipe 320 to cut, for example, byadditional actuation of actuator 306 or by rotation of central hub 316,or both. In some implementations, all cutters in a deployed position maybe in contact with a pipe when one or more of the cutters is cutting.

FIG. 4 is a flowchart showing an example process 400 for using the pipecutting tool. The pipe cutting tool may be of the type described withrespect to FIGS. 1A, 1B, 2, 3A, and 3B. In operation 402, the pipecutting tool is moved into in a wellbore. For example, as describedpreviously, the pipe cutting tool includes a first cutter and at leastone redundant second cutter. The first cutter and second cutter are eachmoveable by an actuator. Each of the first cutter and the second cuttermay be moved by a separate actuator or, alternatively, a commonactuator. In operation 404, an actuation signal is sent to the actuatorthat is connected to the first cutter to move the first cutter from apre-deployed position to a deployed position, such that the first cutteris in a position to cut. The actuation signal may be sent, for example,automatically by a controller. In some implementations, the actuationsignal is sent by a user from a computing system located uphole, forexample when an actuation signal is an emergency override signal thatstops cutting. In operation 406, at least a portion of a pipe is cut bythe first cutter while it is in the deployed position.

Operations 408-412 are performed to deploy the second cutter and resumecutting. In operation 408, the first cutter is deactivated automaticallyto prevent it from cutting further. Such prevention may be desirable,for example, to prevent damage to the pipe cutting tool. As discussed inthis specification, deactivating the first cutter may occurautomatically if one or more cutting conditions are determined to bepresent, for example by a controller. Deactivating the first cutter mayoptionally include retracting the first cutter from the deployedposition to the pre-deployed position, for example by sending a newactuation signal to the actuator connected to the first cutter using acontroller. In some implementations, operation 408 is not performed. Inoperation 410, a second actuation signal is automatically provided tothe redundant second cutter to move the second cutter to its deployedposition from its pre-deployed position. As discussed in thisspecification, the second signal may be sent automatically by acontroller, for example, if one or more cutting conditions have beendetermined to be present. Upon completion of operation 410, the secondredundant cutter is in position to continue cutting. The pipe cuttingtool may include one or more additional redundant cutters configured toprovide additional redundancy similar to the redundant second cutter.For example, if the redundant second cutter becomes dull, one or morecutting conditions may be determined to be present for the second cutterthat causes a third cutter to be used instead. In operation 412, cuttingof the pipe is resumed with the second cutter.

In operation 414, the cutting is monitored using a cutter imagingmonitor, such as an optical camera or x-ray imaging monitor. Themonitoring may optionally include sending a monitoring signal to thewellbore surface for viewing, analysis, or both by a user, a computingdevice, or both. Operation 414 may occur, for example, during some orall of any one or combination of operations 402-412.

All or part of the tools and processes described in this specificationand their various modifications may be controlled at least in part by acontrol system, such as an uphole computing system. The control systemmay be comprised of one or more computing systems using one or morecomputer programs. Examples of computing systems include, either aloneor in combination, one or more desktop computers, laptop computers,servers, server farms, and mobile computing devices such as smartphones,features phones, and tablet computers.

The computer programs may be tangibly embodied in one or moreinformation carriers, such as in one or more non-transitorymachine-readable storage media. A computer program can be written in anyform of programming language, including compiled or interpretedlanguages, and it can be deployed as a stand-alone program or as amodule, part, subroutine, or unit suitable for use in a computingenvironment. A computer program can be deployed to be executed on onecomputer system or on multiple computer systems at one site ordistributed across multiple sites and interconnected by a network.

Actions associated with implementing the processes may be performed byone or more programmable processors executing one or more computerprograms. All or part of the tool, such as the controller contained inthe tool, may be implemented using special purpose logic circuitry, forexample, an field programmable gate array (FPGA) or an ASICapplication-specific integrated circuit (ASIC), or both.

Processors suitable for use as the controller and to execute computerprograms include, for example, both general and special purposemicroprocessors, and include any one or more processors of any kind ofdigital computer. Generally, a processor will receive instructions anddata from a read-only storage area or a random access storage area, orboth. Components of a computing system include one or more processorsfor executing instructions and one or more storage area devices forstoring instructions and data. Generally, a computer and a controllerwill also include one or more machine-readable storage media, or will beoperatively coupled to receive data from, or transfer data to, or both,one or more machine-readable storage media.

Non-transitory machine-readable storage media include mass storagedevices for storing data, for example, magnetic, magneto-optical disks,or optical disks. Non-transitory machine-readable storage media suitablefor embodying computer program instructions and data include all formsof non-volatile storage area. Non-transitory machine-readable storagemedia include, for example, semiconductor storage area devices, forexample, erasable programmable read-only memory (EPROM), electricallyerasable programmable read-only memory (EEPROM), and flash storage areadevices. Non-transitory machine-readable storage media include, forexample, magnetic disks such as internal hard disks or removable disks,magneto-optical disks, and CD (compact disc) ROM (read only memory) andDVD (digital versatile disk) ROM.

A computing device may include a hard drive for storing data andcomputer programs, one or more processing devices (for example, amicroprocessor), and memory (for example, RAM) for executing computerprograms.

Elements of different implementations described may be combined to formother implementations not specifically set forth previously. Elementsmay be left out of the tools and processes described without adverselyaffecting their operation or operation of the overall system in general.Furthermore, various separate elements may be combined into one or moreindividual elements to perform the functions described in thisspecification.

Throughout the description, where apparatus are described as having,including, or comprising specific components, or where processes andmethods are described as having, including, or comprising specificoperations, it is contemplated that, additionally, there are apparatusthat consist essentially of, or consist of, the recited components, andthat there are processes and methods that consist essentially of, orconsist of, the recited processing operations.

It should be understood that the order of operations or order forperforming certain action is immaterial so long as the process or methodremains configured. Moreover, two or more operations or actions may beconducted simultaneously.

In this specification, unless otherwise clear from context or otherwiseexplicitly stated, (i) the term “a” may be understood to mean “at leastone”; (ii) the term “or” may be understood to mean one or the other orboth; and (iii) where ranges are provided, endpoints are included. Anynumerals used in this application with or without about/approximatelyare meant to cover any normal fluctuations appreciated by one ofordinary skill in the relevant art.

Other implementations not specifically described in this specificationare also within the scope of the following claims.

What is claimed is:
 1. A pipe cutting tool comprising: a plurality ofactuators; and a plurality of cutters comprising a first cutter and asecond cutter, each of the plurality of cutters being connected to atleast one separate actuator of the plurality of actuators; where, foreach cutter of the plurality of cutters, the at least one separateactuator is configured to move the cutter between a pre-deployedposition and a deployed position, the deployed position being beyond thepre-deployed position; and where, the second cutter is configured tomove from the pre-deployed position to the deployed positionautomatically based, at least in part, on one or more cuttingconditions.
 2. The pipe cutting tool of claim 1, where the one or morecutting conditions comprise a first cutter pressure that exceeds aninitial or preset first cutter pressure by a predetermined amount. 3.The pipe cutting tool of claim 1, further comprising a controllerconfigured to set the deployed position based on a radius of a pipe tobe cut.
 4. The pipe cutting tool of claim 1, further comprising: one ormore sensors associated with each of the plurality of cutters, the oneor more sensors to output sensor signals; and a controller configured todetermine the one or more cutting conditions based on the sensorsignals.
 5. The pipe cutting tool of claim 1, further comprising: acutter imaging monitor configured to monitor at least one of theplurality of cutters during operation, where the cutter imaging monitorcomprises at least one of an x-ray imaging monitor, an optical camera,or an acoustic camera.
 6. The pipe cutting tool of claim 5, where thecutter imaging monitor is configured to send a monitoring signal to aremote computing system, the monitoring signal representing real-timeoperation of one or more of the cutters.
 7. The pipe cutting tool ofclaim 1, where the plurality of cutters are configured such that onlyone of the plurality of cutters cuts at a time.
 8. The pipe cutting toolof claim 1, further comprising: a housing to hold the one or moreactuators and the plurality of cutters; where, for each of the pluralityof cutters, (i) the cutter is disposed entirely within the housing inthe pre-deployed position and (ii) the cutter extends at least partiallyoutside of the housing in the deployed position.
 9. The pipe cuttingtool of claim 1, where, for each of the plurality of cutters, the cutterlies at least partially in a common horizontal plane when in thedeployed position.
 10. The pipe cutting tool of claim 9, where, in thedeployed position, one or more of the cutters is angled relative to thecommon horizontal plane.
 11. The pipe cutting tool of claim 1, furthercomprising: a housing to hold the one or more actuators and theplurality of cutters; where the housing has an outer diameter of lessthan 3 inches.
 12. The pipe cutting tool of claim 1, where a radialextent of a cutter from a central axis of the pipe cutting tool is lessthan 3 inches when the cutter is in the pre-deployed position.
 13. Thepipe cutting tool of claim 1, where a radial extent of a cutter from acentral axis of the pipe cutting tool is at least 4.5 inches when thecutter is in the deployed position.
 14. The pipe cutting tool of claim1, where the plurality of cutters comprise a first cutter, a secondcutter, and a third cutter and the third cutter is redundant to thefirst cutter and to the second cutter.
 15. The pipe cutting tool ofclaim 1, where each of the plurality of actuators comprises a piston.16. The pipe cutting tool of claim 1, further comprising: a controllerconfigured to output a control signal; where the plurality of actuatorsare each configured to supply a controlled cutting pressure based onethe control signal.
 17. The pipe cutting tool of claim 1, where each ofthe plurality of cutters has a radial extent in the deployed positionthat is a same distance from a central axis of the pipe cutting tool.18. A method of cutting a pipe comprising: extending a first cutter tocontact the pipe; cutting at least a portion of the pipe using the firstcutter; detecting a cutting condition during cutting performed by thefirst cutter; extending a second cutter that is redundant to the firstcutter based, at least in part, on the cutting condition; and resumingthe cutting using the second cutter.
 19. The method of claim 18, wherethe extending the second cutter occurs automatically upon the detectingof the cutting condition.
 20. The method of claim 18, where the cuttingcondition comprises a pressure that exceeds a specified cutter pressureby a predetermined amount.
 21. The method of claim 18, furthercomprising automatically deactivating the first cutter based, at leastin part, on the cutting condition.
 22. The method of claim 21, wheredeactivating comprises retracting the first cutter.
 23. The method ofclaim 21, where deactivating comprises stopping the first cutter. 24.The method of claim 18, where the first cutter is extended by a firstactuator in response to an actuation signal output by a controller. 25.The method of claim 24, where the second cutter is extended by a secondactuator in response to an actuation signal output by the controller.26. The method of claim 25, where the first actuator is separate fromthe second actuator.
 27. The method of claim 26, where the secondactuator provides at least 750 psi of outward pressure to the secondcutter during cutting by the second cutter.
 28. The method of claim 18,where detecting is performed automatically by a controller.
 29. Themethod of claim 18, further comprising extending a third cutter that isredundant to the first cutter and to the second cutter based, at leastin part, on a second cutting condition.
 30. The method of claim 29,where the second cutting condition comprises a second cutter pressurethat exceeds a specified second cutter pressure by a predeterminedamount.
 31. The method of claim 29, further comprising automaticallydeactivating the second cutter, based at least in part, on determiningthe second cutting condition.
 32. The method of claim 18, where, if thefirst cutter and the second cutter are both in a deployed position, thefirst cutter and the second cutter are at least partially in a commonplane.
 33. The method of claim 32, where, at least one of the firstcutter and the second cutter is angled relative to the common plane whenin a deployed position.
 34. The method of claim 18, where the firstcutter and the second cutter each comprises a rotatable blade and ablade hub, where the blade hub is configured to cause the rotatableblade to rotate about a central axis of the blade hub, and the blade hubis connected to an arm that is connected to an actuator.
 35. The methodof claim 34, where an actuator connected to the first cutter is separatefrom an actuator connected to the second cutter.
 36. The method of claim18, where a radial extent of the first cutter from the central axis isat least 4.5 inches when the first cutter is in the deployed position.37. The method of claim 18, further comprising setting, by a controller,(i) a deployed position of the first cutter, (ii) a deployed position ofthe second cutter, or (iii) deployed positions of the first cutter andthe second cutter.
 38. The method of claim 18, further comprising:monitoring the first cutter during cutting using an optical camera, anx-ray imaging monitor, or an acoustic camera.
 39. A pipe cutting toolcomprising: a plurality of actuators; and a plurality of cutters, eachof the plurality of cutters being connected to at least one separateactuator of the plurality of actuators; where, for each cutter of theplurality of cutters, the at least one separate actuator is configuredto move the cutter between a pre-deployed position and a deployedposition, the deployed position being beyond the pre-deployed position,where each one of the plurality of cutters is connected to a single oneof the plurality of actuators, and where the pipe cutting tool furthercomprises a controller to send actuation signals to the plurality ofactuators to cause the plurality of actuators to move independently. 40.A pipe cutting tool comprising: a plurality of actuators; and aplurality of cutters, each of the plurality of cutters being connectedto at least one separate actuator of the plurality of actuators; where,for each cutter of the plurality of cutters, (i) the at least oneseparate actuator is configured to move the cutter between apre-deployed position and a deployed position, the deployed positionbeing beyond the pre-deployed position and (ii) the cutter comprises arotatable blade, a blade hub, and an arm, where (a) the blade hub isconfigured to cause the rotatable blade to rotate about a central axisof the blade hub, (b) the blade hub is connected to the arm at a firstend of the arm, and (c) the arm is connected to the one of the pluralityof actuators at a second end of the arm opposite the first end.
 41. Apipe cutting tool comprising: a plurality of actuators; and a pluralityof cutters, each of the plurality of cutters being connected to at leastone separate actuator of the plurality of actuators; where, for eachcutter of the plurality of cutters, the at least one separate actuatoris configured to move the cutter between a pre-deployed position and adeployed position, the deployed position being beyond the pre-deployedposition, where the plurality of actuators are configured to provide atleast 750 psi of outward pressure to each cutter making a cut duringcutting.
 42. A pipe cutting tool comprising: a plurality of actuators;and a plurality of cutters comprising a first cutter and a secondcutter, each of the plurality of cutters being connected to at least oneseparate actuator of the plurality of actuators; and a controllerconfigured to output actuation signals automatically based, at least inpart, on one or more cutting condition, where, for each cutter of theplurality of cutters, the at least one separate actuator is configuredto move the cutter between a pre-deployed position and a deployedposition, the deployed position being beyond the pre-deployed position,and where, the second cutter is configured to move from the pre-deployedposition to the deployed position, independently from each other cutter,based on an actuation signal of the actuation signals.
 43. The pipecutting tool of claim 42, where the one or more cutting conditionscomprises a first cutter pressure that exceeds an initial or presetfirst cutter pressure by a predetermined amount.